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<div class="title">offline_integration.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * Copyright (c) 2009-2012, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> * Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> * are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *  * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *    notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *  * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *    copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *    disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *    with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *  * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *    contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *    from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> * &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_APPS_IN_HAND_SCANNER_OFFLINE_INTEGRATION_H</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_APPS_IN_HAND_SCANNER_OFFLINE_INTEGRATION_H</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_exports.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common_2time_8h.html">pcl/common/time.h</a>&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/in_hand_scanner/common_types.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/in_hand_scanner/boost.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/in_hand_scanner/eigen.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;pcl/apps/in_hand_scanner/opengl_viewer.h&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="comment">// Forward declarations</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;{</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">class</span> Po<span class="keywordtype">int</span>OutT&gt;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">class </span>IntegralImageNormalEstimation;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keyword">namespace </span>ihs</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keyword">class </span>Integration;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  } <span class="comment">// End namespace ihs</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;} <span class="comment">// End namespace pcl</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;<span class="comment">// OfflineIntegration</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;{</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  <span class="keyword">namespace </span>ihs</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  {</div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration.html">   80</a></span>&#160;    <span class="keyword">class </span>PCL_EXPORTS <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html">OfflineIntegration</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1ihs_1_1_open_g_l_viewer.html">pcl::ihs::OpenGLViewer</a></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      Q_OBJECT</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160; </div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1ihs_1_1_open_g_l_viewer.html">pcl::ihs::OpenGLViewer</a>       <a class="code" href="classpcl_1_1ihs_1_1_open_g_l_viewer.html">Base</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html">pcl::ihs::OfflineIntegration</a> <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html">Self</a>;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration.html#a491c0ad04a4c30ae25b89dcaa56eeeaa">   90</a></span>&#160;        <span class="keyword">explicit</span> <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html#a491c0ad04a4c30ae25b89dcaa56eeeaa">OfflineIntegration</a> (<a class="code" href="classpcl_1_1ihs_1_1_open_g_l_viewer.html">Base</a>* parent=0);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration.html#a9f50a88c94075858dd61965189c51286">   93</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html#a9f50a88c94075858dd61965189c51286">~OfflineIntegration</a> ();</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keyword">public</span> Q_SLOTS:</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; </div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration.html#afb4954ff2bf9a7e7f4197321f53ea571">   99</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html#afb4954ff2bf9a7e7f4197321f53ea571">start</a> ();</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;      <span class="keyword">private</span> Q_SLOTS:</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration.html#a221d1757bcd60fb8cb0e1ff548c41b65">  105</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html#a221d1757bcd60fb8cb0e1ff548c41b65">computationThread</a> ();</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160; </div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keyword">private</span>:</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a>              <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a>;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud &lt;PointXYZRGBA&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">CloudXYZRGBA</a>;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keyword">typedef</span> CloudXYZRGBA::Ptr              CloudXYZRGBAPtr;</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keyword">typedef</span> CloudXYZRGBA::ConstPtr         CloudXYZRGBAConstPtr;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160; </div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_normal.html">pcl::PointXYZRGBNormal</a>              <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_normal.html">PointXYZRGBNormal</a>;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud &lt;PointXYZRGBNormal&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">CloudXYZRGBNormal</a>;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        <span class="keyword">typedef</span> CloudXYZRGBNormal::Ptr              CloudXYZRGBNormalPtr;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        <span class="keyword">typedef</span> CloudXYZRGBNormal::ConstPtr         CloudXYZRGBNormalConstPtr;</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keyword">typedef</span> pcl::ihs::Mesh         <a class="code" href="class_mesh.html">Mesh</a>;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keyword">typedef</span> pcl::ihs::MeshPtr      MeshPtr;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <span class="keyword">typedef</span> pcl::ihs::MeshConstPtr MeshConstPtr;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160; </div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1ihs_1_1_integration.html">pcl::ihs::Integration</a>                 <a class="code" href="classpcl_1_1ihs_1_1_integration.html">Integration</a>;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr &lt;Integration&gt;       IntegrationPtr;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr &lt;const Integration&gt; IntegrationConstPtr;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html">pcl::IntegralImageNormalEstimation &lt;PointXYZRGBA, PointXYZRGBNormal&gt;</a> <a class="code" href="classpcl_1_1_integral_image_normal_estimation.html">NormalEstimation</a>;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr &lt;NormalEstimation&gt;                                 NormalEstimationPtr;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <span class="keyword">typedef</span> boost::shared_ptr &lt;const NormalEstimation&gt;                           NormalEstimationConstPtr;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration_1_1_computation_f_p_s.html">  132</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1ihs_1_1_offline_integration_1_1_computation_f_p_s.html">ComputationFPS</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1ihs_1_1_open_g_l_viewer_1_1_f_p_s.html">Base::FPS</a></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;        {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;          <span class="keyword">public</span>:</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;            <a class="code" href="classpcl_1_1ihs_1_1_offline_integration_1_1_computation_f_p_s.html">ComputationFPS</a> () : <a class="code" href="classpcl_1_1ihs_1_1_open_g_l_viewer_1_1_f_p_s.html">Base::FPS</a> () {}</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;            ~<a class="code" href="classpcl_1_1ihs_1_1_offline_integration_1_1_computation_f_p_s.html">ComputationFPS</a> () {}</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        };</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration_1_1_visualization_f_p_s.html">  141</a></span>&#160;        <span class="keyword">class </span><a class="code" href="classpcl_1_1ihs_1_1_offline_integration_1_1_visualization_f_p_s.html">VisualizationFPS</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1ihs_1_1_open_g_l_viewer_1_1_f_p_s.html">Base::FPS</a></div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        {</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;          <span class="keyword">public</span>:</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;            <a class="code" href="classpcl_1_1ihs_1_1_offline_integration_1_1_visualization_f_p_s.html">VisualizationFPS</a> () : <a class="code" href="classpcl_1_1ihs_1_1_open_g_l_viewer_1_1_f_p_s.html">Base::FPS</a> () {}</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;            ~<a class="code" href="classpcl_1_1ihs_1_1_offline_integration_1_1_visualization_f_p_s.html">VisualizationFPS</a> () {}</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        };</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160; </div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00155"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration.html#a3c2a2594868a6db940e0c10abf01c115">  155</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html#a3c2a2594868a6db940e0c10abf01c115">getFilesFromDirectory</a> (<span class="keyword">const</span> std::string          path_dir,</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;                               <span class="keyword">const</span> std::string          extension,</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;                               std::vector &lt;std::string&gt;&amp; files) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00165"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration.html#abfa923e57d25b9d17b7e7983f742bb5c">  165</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html#abfa923e57d25b9d17b7e7983f742bb5c">loadTransform</a> (<span class="keyword">const</span> std::string&amp; filename,</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;                       Eigen::Matrix4f&amp;   transform) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration.html#a8094167184c210a043ff1b8fe83e78e9">  175</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html#a8094167184c210a043ff1b8fe83e78e9">load</a> (<span class="keyword">const</span> std::string&amp;    filename,</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;              CloudXYZRGBNormalPtr&amp; cloud,</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;              Eigen::Matrix4f&amp;      T) <span class="keyword">const</span>;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration.html#a0c40aaeef8e0bf86e4accb6908a0c188">  183</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html#a0c40aaeef8e0bf86e4accb6908a0c188">paintEvent</a> (QPaintEvent* event);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration.html#acacdd92616da237e32accc05b5b68e6b">  187</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html#acacdd92616da237e32accc05b5b68e6b">keyPressEvent</a> (QKeyEvent* event);</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        <span class="comment">// Members</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;<span class="comment"></span> </div>
<div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration.html#aef1e53e7dd5fb618ba6799c071effe34">  194</a></span>&#160;        boost::mutex <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html#aef1e53e7dd5fb618ba6799c071effe34">mutex_</a>;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration.html#abdb71eee38a9932744cdf632927fe665">  197</a></span>&#160;        boost::mutex <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html#abdb71eee38a9932744cdf632927fe665">mutex_quit_</a>;</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00200"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration.html#a4d0e47451ce09fba84439dc68364b17d">  200</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_offline_integration_1_1_computation_f_p_s.html">ComputationFPS</a> <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html#a4d0e47451ce09fba84439dc68364b17d">computation_fps_</a>;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration.html#ad3653f7def8b5ad24d745a7fd4fc1bfa">  203</a></span>&#160;        <a class="code" href="classpcl_1_1ihs_1_1_offline_integration_1_1_visualization_f_p_s.html">VisualizationFPS</a> <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html#ad3653f7def8b5ad24d745a7fd4fc1bfa">visualization_fps_</a>;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration.html#a922b87781cfa4394d1d5fa1a4dbd99c1">  206</a></span>&#160;        std::string <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html#a922b87781cfa4394d1d5fa1a4dbd99c1">path_dir_</a>;</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration.html#a29a52d59fe9eda02fa032242157a0d39">  209</a></span>&#160;        MeshPtr <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html#a29a52d59fe9eda02fa032242157a0d39">mesh_model_</a>;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration.html#acec9ccf755e1a7163e17438a6f4e52e6">  212</a></span>&#160;        NormalEstimationPtr <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html#acec9ccf755e1a7163e17438a6f4e52e6">normal_estimation_</a>;</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration.html#a4f85da61c04a4f2f4d86e4ef2c964f7a">  215</a></span>&#160;        IntegrationPtr <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html#a4f85da61c04a4f2f4d86e4ef2c964f7a">integration_</a>;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classpcl_1_1ihs_1_1_offline_integration.html#a0c1d98afc0ca48fb06a2fd75b85e3251">  218</a></span>&#160;        <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1ihs_1_1_offline_integration.html#a0c1d98afc0ca48fb06a2fd75b85e3251">destructor_called_</a>;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160; </div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;    };</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  } <span class="comment">// End namespace ihs</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;} <span class="comment">// End namespace pcl</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_APPS_IN_HAND_SCANNER_OFFLINE_INTEGRATION_H</span></div>
<div class="ttc" id="aclass_mesh_html"><div class="ttname"><a href="class_mesh.html">Mesh</a></div><div class="ttdef"><b>Definition:</b> surface.h:15</div></div>
<div class="ttc" id="aclasspcl_1_1_integral_image_normal_estimation_html"><div class="ttname"><a href="classpcl_1_1_integral_image_normal_estimation.html">pcl::IntegralImageNormalEstimation</a></div><div class="ttdoc">Surface normal estimation on organized data using integral images.</div><div class="ttdef"><b>Definition:</b> integral_image_normal.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointXYZRGBA &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_integration_html"><div class="ttname"><a href="classpcl_1_1ihs_1_1_integration.html">pcl::ihs::Integration</a></div><div class="ttdoc">Integrate several clouds into a common mesh.</div><div class="ttdef"><b>Definition:</b> integration.h:72</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_1_1_computation_f_p_s_html"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration_1_1_computation_f_p_s.html">pcl::ihs::OfflineIntegration::ComputationFPS</a></div><div class="ttdoc">Helper object for the computation thread. Please have a look at the documentation of calcFPS.</div><div class="ttdef"><b>Definition:</b> offline_integration.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_1_1_visualization_f_p_s_html"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration_1_1_visualization_f_p_s.html">pcl::ihs::OfflineIntegration::VisualizationFPS</a></div><div class="ttdoc">Helper object for the visualization thread. Please have a look at the documentation of calcFPS.</div><div class="ttdef"><b>Definition:</b> offline_integration.h:142</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_html"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration.html">pcl::ihs::OfflineIntegration</a></div><div class="ttdoc">Read the clouds and transformations from files and integrate them into one common model.</div><div class="ttdef"><b>Definition:</b> offline_integration.h:81</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_html_a0c1d98afc0ca48fb06a2fd75b85e3251"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration.html#a0c1d98afc0ca48fb06a2fd75b85e3251">pcl::ihs::OfflineIntegration::destructor_called_</a></div><div class="ttdeci">bool destructor_called_</div><div class="ttdoc">Prevent the application to crash while closing.</div><div class="ttdef"><b>Definition:</b> offline_integration.h:218</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_html_a0c40aaeef8e0bf86e4accb6908a0c188"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration.html#a0c40aaeef8e0bf86e4accb6908a0c188">pcl::ihs::OfflineIntegration::paintEvent</a></div><div class="ttdeci">void paintEvent(QPaintEvent *event)</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_html_a221d1757bcd60fb8cb0e1ff548c41b65"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration.html#a221d1757bcd60fb8cb0e1ff548c41b65">pcl::ihs::OfflineIntegration::computationThread</a></div><div class="ttdeci">void computationThread()</div><div class="ttdoc">Loads in new data.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_html_a29a52d59fe9eda02fa032242157a0d39"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration.html#a29a52d59fe9eda02fa032242157a0d39">pcl::ihs::OfflineIntegration::mesh_model_</a></div><div class="ttdeci">MeshPtr mesh_model_</div><div class="ttdoc">Model to which new data is registered to (stored as a mesh).</div><div class="ttdef"><b>Definition:</b> offline_integration.h:209</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_html_a3c2a2594868a6db940e0c10abf01c115"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration.html#a3c2a2594868a6db940e0c10abf01c115">pcl::ihs::OfflineIntegration::getFilesFromDirectory</a></div><div class="ttdeci">bool getFilesFromDirectory(const std::string path_dir, const std::string extension, std::vector&lt; std::string &gt; &amp;files) const</div><div class="ttdoc">Get a list of files with from a given directory.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_html_a491c0ad04a4c30ae25b89dcaa56eeeaa"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration.html#a491c0ad04a4c30ae25b89dcaa56eeeaa">pcl::ihs::OfflineIntegration::OfflineIntegration</a></div><div class="ttdeci">OfflineIntegration(Base *parent=0)</div><div class="ttdoc">Constructor.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_html_a4d0e47451ce09fba84439dc68364b17d"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration.html#a4d0e47451ce09fba84439dc68364b17d">pcl::ihs::OfflineIntegration::computation_fps_</a></div><div class="ttdeci">ComputationFPS computation_fps_</div><div class="ttdoc">Please have a look at the documentation of ComputationFPS.</div><div class="ttdef"><b>Definition:</b> offline_integration.h:200</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_html_a4f85da61c04a4f2f4d86e4ef2c964f7a"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration.html#a4f85da61c04a4f2f4d86e4ef2c964f7a">pcl::ihs::OfflineIntegration::integration_</a></div><div class="ttdeci">IntegrationPtr integration_</div><div class="ttdoc">Integrate the data cloud into a common model.</div><div class="ttdef"><b>Definition:</b> offline_integration.h:215</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_html_a8094167184c210a043ff1b8fe83e78e9"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration.html#a8094167184c210a043ff1b8fe83e78e9">pcl::ihs::OfflineIntegration::load</a></div><div class="ttdeci">bool load(const std::string &amp;filename, CloudXYZRGBNormalPtr &amp;cloud, Eigen::Matrix4f &amp;T) const</div><div class="ttdoc">Load the cloud and transformation from the files and compute the normals.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_html_a922b87781cfa4394d1d5fa1a4dbd99c1"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration.html#a922b87781cfa4394d1d5fa1a4dbd99c1">pcl::ihs::OfflineIntegration::path_dir_</a></div><div class="ttdeci">std::string path_dir_</div><div class="ttdoc">Path to the pcd and transformation files.</div><div class="ttdef"><b>Definition:</b> offline_integration.h:206</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_html_a9f50a88c94075858dd61965189c51286"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration.html#a9f50a88c94075858dd61965189c51286">pcl::ihs::OfflineIntegration::~OfflineIntegration</a></div><div class="ttdeci">~OfflineIntegration()</div><div class="ttdoc">Destructor.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_html_abdb71eee38a9932744cdf632927fe665"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration.html#abdb71eee38a9932744cdf632927fe665">pcl::ihs::OfflineIntegration::mutex_quit_</a></div><div class="ttdeci">boost::mutex mutex_quit_</div><div class="ttdoc">Wait until the data finished processing.</div><div class="ttdef"><b>Definition:</b> offline_integration.h:197</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_html_abfa923e57d25b9d17b7e7983f742bb5c"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration.html#abfa923e57d25b9d17b7e7983f742bb5c">pcl::ihs::OfflineIntegration::loadTransform</a></div><div class="ttdeci">bool loadTransform(const std::string &amp;filename, Eigen::Matrix4f &amp;transform) const</div><div class="ttdoc">Load the transformation matrix from the given file.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_html_acacdd92616da237e32accc05b5b68e6b"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration.html#acacdd92616da237e32accc05b5b68e6b">pcl::ihs::OfflineIntegration::keyPressEvent</a></div><div class="ttdeci">void keyPressEvent(QKeyEvent *event)</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_html_acec9ccf755e1a7163e17438a6f4e52e6"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration.html#acec9ccf755e1a7163e17438a6f4e52e6">pcl::ihs::OfflineIntegration::normal_estimation_</a></div><div class="ttdeci">NormalEstimationPtr normal_estimation_</div><div class="ttdoc">Compute the normals for the input clouds.</div><div class="ttdef"><b>Definition:</b> offline_integration.h:212</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_html_ad3653f7def8b5ad24d745a7fd4fc1bfa"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration.html#ad3653f7def8b5ad24d745a7fd4fc1bfa">pcl::ihs::OfflineIntegration::visualization_fps_</a></div><div class="ttdeci">VisualizationFPS visualization_fps_</div><div class="ttdoc">Please have a look at the documentation of VisualizationFPS.</div><div class="ttdef"><b>Definition:</b> offline_integration.h:203</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_html_aef1e53e7dd5fb618ba6799c071effe34"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration.html#aef1e53e7dd5fb618ba6799c071effe34">pcl::ihs::OfflineIntegration::mutex_</a></div><div class="ttdeci">boost::mutex mutex_</div><div class="ttdoc">Synchronization.</div><div class="ttdef"><b>Definition:</b> offline_integration.h:194</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_offline_integration_html_afb4954ff2bf9a7e7f4197321f53ea571"><div class="ttname"><a href="classpcl_1_1ihs_1_1_offline_integration.html#afb4954ff2bf9a7e7f4197321f53ea571">pcl::ihs::OfflineIntegration::start</a></div><div class="ttdeci">void start()</div><div class="ttdoc">Start the procedure from a path.</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_open_g_l_viewer_1_1_f_p_s_html"><div class="ttname"><a href="classpcl_1_1ihs_1_1_open_g_l_viewer_1_1_f_p_s.html">pcl::ihs::OpenGLViewer::FPS</a></div><div class="ttdoc">Please have a look at the documentation of calcFPS.</div><div class="ttdef"><b>Definition:</b> opengl_viewer.h:281</div></div>
<div class="ttc" id="aclasspcl_1_1ihs_1_1_open_g_l_viewer_html"><div class="ttname"><a href="classpcl_1_1ihs_1_1_open_g_l_viewer.html">pcl::ihs::OpenGLViewer</a></div><div class="ttdoc">Viewer for the in-hand scanner based on Qt and OpenGL.</div><div class="ttdef"><b>Definition:</b> opengl_viewer.h:108</div></div>
<div class="ttc" id="acommon_2time_8h_html"><div class="ttname"><a href="common_2time_8h.html">time.h</a></div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_normal_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_normal.html">pcl::PointXYZRGBNormal</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGB color, together with normal coo...</div><div class="ttdef"><b>Definition:</b> point_types.hpp:926</div></div>
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